Magnetic fluid robot motion control system and positioning motion control method thereof

Abstract

The application relates to a magnetohydrodynamic robot motion control system and a positioning motion control method thereof, wherein the magnetohydrodynamic robot motion control system comprises a power conductor block, a plurality of power conductors are arranged in the power conductor block, a detection plate corresponding to the power conductors is further arranged on the upper part of a circuit board, a plurality of test grooves are arranged on the detection plate, a magnetohydrodynamic robot is movably arranged in the test groove, a plurality of carrier robots corresponding to the power conductors are movably arranged between the circuit board and the detection plate; and the carrier robots and the power conductor block cooperate to drive the carrier robots to displace on the power conductor block and drive the magnetohydrodynamic robot to displace in the test groove. The application provides a magnetohydrodynamic robot motion control system which can drive and control the positioning motion of the magnetohydrodynamic robot in the test groove of the detection plate, and facilitates the mixing and displacement pushing of the to-be-tested liquid in the test groove through the motion of the magnetohydrodynamic robot.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of magnetic fluid control, in particular to a magnetic fluid robot motion control system and a positioning motion control method thereof. BACKGROUND

[0002] Magnetic fluid control technology is a technology that uses magnetic fields for precise motion control. It is widely used in medical, robotic, aerospace and other fields. Magnetic fluid control technology has been widely concerned and researched in the fields of medicine, robotics and automation control. Magnetic fluid control technology is continuously expanding and deepening in the fields of medicine, robotics and automation control. With the continuous development of magnetic materials and the maturity of magnetic control technology, the application prospect of magnetic fluid control technology is also more promising. In recent years, micro-robots with a size between millimeters and microns have shown great advantages and potential in extreme confined environments, becoming an important means for scientists to analyze micro-physical phenomena. Micro-robot systems have greatly promoted the research progress of robotics in the fields of medical detection, targeted medical treatment, biological engineering, precision assembly and other frontier fields.

[0003] Micro magnetic robots can realize the detection of liquid package transportation, can move under the traction of the parent robot, and realize the release of detection substances when in contact with viruses. At present, how to build a micro robot system with large carrying capacity, high stability and high automation to realize the motion control of the robot in the sample solvent is a hot and urgent problem in virus detection research. The liquid handling technology in the prior art needs to go through many complicated technical processes, and has high requirements for the detection environment. The current automatic detection platform not only needs high maintenance and use cost, but also is easy to cause the sample to be contaminated by external viruses.

[0004] Therefore, it is necessary to develop a multi-scale and collaborative hybrid control of micro robots, which is an important way to solve the current automatic virus detection problem and is also a development trend of future medical detection research. SUMMARY

[0005] The application overcomes the shortcomings of the prior art and provides a magnetic fluid robot motion control system and a positioning motion control method thereof, which can drive and control the positioning motion of the magnetic fluid robot in the test slot of the detection plate, and facilitate the mixing and displacement of the liquid to be tested in the test slot through the motion of the magnetic fluid robot.

[0006] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present application is: a magnetic fluid robot motion control system, comprising a magnetic fluid robot motion control platform, the magnetic fluid robot motion control platform comprises a power conductor block, a plurality of power conductors are arranged in the power conductor block, a detection plate corresponding to the power conductors is further arranged on the upper part of the power conductor block, a plurality of test grooves are arranged on the detection plate, a magnetic fluid robot is movably accommodated in the test groove, a plurality of carrier robots corresponding to the power conductors are movably arranged between the power conductor block and the detection plate; and the carrier robots and the power conductor block cooperate to drive the carrier robots to displace on the power conductor block and drive the magnetic fluid robots to displace in the test groove.

[0007] In a preferred embodiment of the present application, the upper part of the magnetic fluid robot motion control platform further comprises a visual monitoring mechanism arranged on the upper part of the detection plate; and an image acquisition window of the visual monitoring mechanism faces the detection plate.

[0008] In a preferred embodiment of the present application, the power conductor block comprises two layers of power conductors; and the two layers of power conductors respectively comprise a plurality of X-axis power conductors arranged in an axial direction along an X-axis and a plurality of Y-axis power conductors arranged in an axial direction along a Y-axis; the X-axis power conductors and the Y-axis power conductors are arranged in a structure of reciprocating in the shape of a Chinese character'' ; and the X-axis power conductors and the Y-axis power conductors are arranged in different planes and do not electrically contact each other.

[0009] In a preferred embodiment of the present application, the adjacent X-axis power conductors have opposite polarities; and the adjacent Y-axis power conductors have opposite polarities.

[0010] In a preferred embodiment of the present application, the plurality of test grooves are arranged on the detection plate in a staggered manner to form a plurality of longitudinal and transverse staggered passage structures.

[0011] In a preferred embodiment of the present application, the carrier robot comprises a displacement carrier and a permanent magnet arranged on the displacement carrier.

[0012] In a preferred embodiment of the present application, the magnetic fluid robot motion control platform further comprises a circuit board, and the power conductor block is electrically connected to a control circuit of a single-chip microcomputer control system on the circuit board.

[0013] The control circuit comprises a single-chip microcomputer system, a current amplification circuit connected to the single-chip microcomputer system, and a positive and negative reversal control circuit of current in an H-bridge power conductor, and the positive and negative reversal control circuit of current in the H-bridge power conductor is connected to the power conductors in the power conductor block.

[0014] Specifically, the permanent magnet is a cylindrical rubidium magnet, and the positive and negative polarities of the rubidium magnet are arranged in a longitudinal direction.

[0015] In a preferred embodiment of the present application, a plurality of groups of parallelly arranged rubidium magnets are arranged on the displacement carrier, and a spacing interval for driving displacement is reserved between adjacent rubidium magnets of each group; and the spacing interval corresponds to the periodic arrangement interval of the X-axis power conductor or the Y-axis power conductor.

[0016] Or / and, the displacement distance of the carrier robot each time is the sum of the line width of the X-axis power conductor or the Y-axis power conductor and 1 / 2 line gap.

[0017] In a preferred embodiment of the present application, a magnetic fluid positioning motion control method for virus detection is realized by a magnetic fluid robot motion control system, and the method comprises the following steps:

[0018] The power conductors in the power conductor block are electrified, when different direction currents are passed through the power conductors, the magnetic field directions generated by the currents are opposite, the magnetic interaction between the power conductors and the permanent magnets on the carrier robot drives the permanent magnets to displace on the arrangement position of the permanent magnet power conductor, and drives the magnetic fluid robot corresponding to the carrier robot in the test groove to displace along the test groove; and the positioning motion control of the magnetic fluid robot is realized.

[0019] In a preferred embodiment of the present application, the following steps are included: injecting a liquid medium required for detection into the test groove of the detection plate; placing the magnetic fluid robot at one end of the test groove, the other end of the test groove being a leading-out end, and dropping a detection sample and a detection reagent in the test groove and between the magnetic fluid robot and the leading-out end; the detection reagent is close to the leading-out end, and the detection sample is between the detection reagent and the magnetic fluid robot; driving the magnetic fluid robot to move along the test groove, the magnetic fluid robot collects the detection sample in the test groove in the movement process, swallows the detection reagent after moving to the terminal point, so that the detection sample and the detection reagent are fully mixed, and then the mixed sample is expelled; and the next round of detection is carried out as a cycle.

[0020] The present application solves the defects in the background art, and has the following beneficial effects:

[0021] The present application can drive and control the positioning motion of the magnetic fluid robot in the test groove of the detection plate.

[0022] 2、The present application facilitates the mixing and displacement of the liquid to be tested in the test groove through the movement of the magnetic fluid robot. BRIEF DESCRIPTION OF DRAWINGS

[0023] The present application will be further described below in combination with the drawings and embodiments.

[0024] Figure 1 It is a structural schematic diagram of a magnetic fluid robot motion control system in a preferred embodiment of the present application.

[0025] Figure 2 is the structural schematic diagram of the magnetic fluid robot motion control platform in the preferred embodiment of the present application;

[0026] Figure 3 is the perspective structural schematic diagram of the carrier robot controlling the magnetic fluid motion in the preferred embodiment of the present application;

[0027] Figure 4 is the structural schematic diagram of the carrier robot in the preferred embodiment of the present application;

[0028] Figure 5 is the principle diagram of the power wire driving permanent magnet carrier in the preferred embodiment of the present application;

[0029] Figure 6 is the principle diagram of the power wire block circuit in the preferred embodiment of the present application;

[0030] Figure 7 is the cycle motion period diagram of the carrier robot in the preferred embodiment of the present application;

[0031] Figure 8 is the circuit of the control circuit of the single-chip microcomputer control system in the preferred embodiment of the present application; Figure 1 ;

[0032] Figure 9 is the circuit of the control circuit of the single-chip microcomputer control system in the preferred embodiment of the present application; Figure 2 ;

[0033] Figure 10 is the circuit of the control circuit of the single-chip microcomputer control system in the preferred embodiment of the present application; Figure 3 ;

[0034] Figure 11 is the circuit of the control circuit of the single-chip microcomputer control system in the preferred embodiment of the present application; Figure 4 ;

[0035] Figure 12 is the circuit of the control circuit of the single-chip microcomputer control system in the preferred embodiment of the present application; Figure 5 ;

[0036] Figure 13 is the circuit of the control circuit of the single-chip microcomputer control system in the preferred embodiment of the present application; Figure 6 ;

[0037] Among them, 1. Carrier robot, 11. Displacement carrier, 12. Permanent magnet, 2. Microcontroller control system, 3. Circuit board, 31. Power conductor block, 311. X-axis power conductor, 312. Y-axis power conductor, 4. Detection board, 41. Test tank, 5. Magnetohydrodynamic robot motion control platform, 6. Visual monitoring mechanism, 7. Magnetohydrodynamic robot. Detailed Implementation

[0038] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. These drawings are simplified schematic diagrams, which are only used to illustrate the basic structure of the present invention and therefore only show the components relevant to the present invention. Example 1

[0039] like Figures 1-7 As shown, the magnetohydrodynamic (MHD) robot motion control system includes a MHD robot motion control platform 5. The MHD robot motion control platform 5 includes a power wire block 31 mounted on a circuit board 3. The power wire block 31 contains several power wires. A detection plate 4 corresponding to the power wires is mounted on the upper part of the power wire block 31. The detection plate 4 has several test slots 41, which are staggered to form multiple crisscrossing pathways. A MHD robot 7 is movably housed within each test slot 41. Several carrier robots 1 corresponding to the power wires are movably embedded between the power wire block 31 and the detection plate 4. The carrier robots 1 and the power wire block 31 cooperate to drive the carrier robots 1 to move on the power wire block 31 and drive the MHD robots 7 to move in the test slots 41.

[0040] Specifically, the power conductor block 31 contains two layers of power conductors; each layer includes several X-axis power conductors 311 arranged axially along the X-axis and several Y-axis power conductors 312 arranged axially along the Y-axis; the X-axis power conductors 311 and Y-axis power conductors 312 are arranged in a zigzag pattern; the X-axis power conductors 311 and Y-axis power conductors 312 are arranged in opposite directions and do not make electrical contact. Adjacent X-axis power conductors 311 have opposite polarities; adjacent Y-axis power conductors 312 have opposite polarities.

[0041] Furthermore, such as Figure 5 , Figure 6 As shown, the power conductor block 31 contains a printed circuit board with two layers of power conductors; two X-axis power conductors 311 with port names X-POWER-1 and X-POWER-2 drive the carrier robot 1 to move in the X-axis direction; two Y-axis power conductors 312 with port names Y-POWER-1 and Y-POWER-2 drive the carrier robot 1 to move in the Y-axis direction.

[0042] Further, the motion cycle of the carrier robot 1 is divided into four stages, and the displacement distance of the carrier robot 1 in each stage is the sum of the line width of the power conductor and 1 / 2 of the line gap.

[0043] See Figure 5 , 6 In the present application, each layer of power conductor is composed of two independent conductors arranged in cross. Taking the carrier robot 1 moving along the X-axis direction as an example. In the first stage, the four rubidium magnets in the carrier robot 1 are located directly above the X-POWER-1 conductor, the first conductor is connected with a positive current, and the second conductor is connected with no current, so that the carrier robot 1 is subjected to the magnetic field force to the right and moves to the position shown in FIG. 1B. Figure 5 In the second stage, the four rubidium magnets in the carrier robot 1 are located directly above the X-POWER-2 conductor, the first conductor is connected with no current, and the second conductor is connected with a positive current, so that the carrier robot 1 is subjected to the magnetic field force to the right and moves to the position shown in FIG. 1C. Figure 5 In the third stage, the four rubidium magnets in the carrier robot 1 are located directly above the X-POWER-1 conductor, the first conductor is connected with a reverse current, and the second conductor is connected with no current, so that the carrier robot 1 is subjected to the magnetic field force to the right and moves to the position shown in FIG. 1D. Figure 5 In the fourth stage, the four rubidium magnets in the carrier robot 1 are located directly above the X-POWER-2 conductor, the first conductor is connected with no current, and the second conductor is connected with a reverse current, so that the carrier robot 1 is subjected to the magnetic field force to the right and moves to the position shown in FIG. 1E. Taking this as a cycle, the carrier robot 1 generates continuous and stable displacement. Figure 5

[0044] Specifically, the carrier robot 1 includes a displacement carrier 11 and a permanent magnet 12 arranged on the displacement carrier 11. Further, the permanent magnet 12 is a cylindrical rubidium magnet, and the positive and negative polarities of the rubidium magnet are arranged longitudinally. The displacement carrier 11 is provided with a plurality of groups of parallelly arranged rubidium magnets, and each group of adjacent rubidium magnets is provided with a driving displacement interval. The interval corresponds to the periodic arrangement interval of the X-axis power conductor 311 or the Y-axis power conductor 312. The displacement distance of the carrier robot 1 each time is the sum of the line width of the X-axis power conductor 311 or the Y-axis power conductor 312 and 1 / 2 of the line gap. Further, as shown in FIG. 1F, the carrier robot 1 is composed of a displacement carrier 11 of an ABS profile with a size of 8mm*8mm*1mm and four cylindrical rubidium magnets with a size of 1.5mm*1mm. The displacement carrier 11 moves rapidly and stably under the action of the magnetic field generated by the power conductor. The principle of driving the carrier robot 1 by the power conductor is shown in FIG. 1G. Figure 5 Figure 6 ​​As shown, the power conductor generates a ring-shaped magnetic field after being electrified, and the magnetic field force always gives a component on the carrier robot 1 in the same direction as the movement direction of the carrier robot 1. When the power conductor is electrified in different directions, the magnetic field generated by the current is opposite, and the coaxial bidirectional movement of the carrier robot 1 can be realized; the two-dimensional planar movement of the carrier robot 1 is realized.

[0045] Further, the upper part of the magnetic fluid robot movement control platform 5 is also provided with a visual monitoring mechanism 6 located on the upper part of the detection plate 4; the image acquisition window of the visual monitoring mechanism 6 faces the detection plate 4. Embodiment two

[0046] As Figures 1-7 shown, on the basis of embodiment one, the carrier robot 1 uses a displacement carrier 11 with a size of 8mm*8mm*1mm, and four permanent magnets 12 are arranged on the displacement carrier 11; the circuit board 3 and the detection plate 4 are respectively fixed on the box of the magnetic fluid robot movement control platform 5 by using M3 screws, so that the use is more convenient and the structure is simpler. The carrier robot 1 is placed in the power conductor block 31 of the circuit board 3, and an anti-magnetic layer is coated on the surface of the power conductor block 31 of the circuit board 3, which reduces the influence on the movement of the carrier robot 1 and also reduces the friction, so that it can move faster to the specified position. Further, in this embodiment, the anti-magnetic layer uses pyrolytic graphene in the prior art; but it is not limited to this, and in other embodiments, other materials with similar functions can also be selected according to actual use requirements.

[0047] Specifically, the circuit board 3 is provided with a single-chip microcomputer control system 2 electrically connected with the power conductor arranged in the power conductor block 31, the TXD and RXD pins of the STC single-chip microcomputer of the single-chip microcomputer control system 2 are connected with the upper computer by using a USB-to-TTL serial port line, so as to realize the serial port communication between the STC single-chip microcomputer and the upper computer; the visual monitoring mechanism 6, i.e. the CMOS industrial camera, is fixed on the top of the box by using M3 screws, located directly above the working area of the magnetic fluid robot 7, and the visual monitoring mechanism 6 continuously captures the real-time position of the magnetic fluid robot 7 and feeds back to the upper computer.

[0048] Further, as Figure 2 , Figure 3 shown, the detection plate 4 is made of flat glass and includes a plurality of channels. Each channel has an independent movement of a magnetic fluid robot 7. The antigen detection plate 4 and the printed circuit board leave a space with a height of 1.5mm therebetween, and a plurality of carrier robots 1 are placed in the space, each carrier robot 1 controls the movement of a magnetic fluid robot 7. The starting point and the ending point of each movement of the magnetic fluid robot 7 are located at the two ends of the channel.

[0049] Working principle:

[0050] The upper computer of the periphery collects data of the position coordinates of the magnetic fluid through the CMOS industrial camera, processes the data according to a specified program, and sends corresponding instructions to the STC single-chip microcomputer through simple bidirectional serial port communication. After receiving the instructions, the pins of the single-chip microcomputer change in level, and the current on-off and direction of each branch, that is, the current on-off and direction in the power conductor, are controlled by the four transistors in the printed circuit board. The carrier robot 1 is forced by the magnetic field generated by the current in the conductor, so as to realize the continuous unidirectional parallel motion of the carrier robot 1, and the carrier robot 1 drives the magnetic fluid robot 7 to move, so as to realize the motion and multi-state control of the magnetic fluid robot 7. The visual module, the control module and the detection module are innovatively integrated and optimized, and the carrier robot 1 is used to realize the rapid parallel motion and multi-state control of the magnetic fluid robot 7. In this way, the rapidity, efficiency and accuracy of the work of the magnetic fluid robot 7 are ensured, and high automation and low cost are realized, so that the manpower and material resources are greatly reduced. Example three

[0051] On the basis of the embodiment one or the embodiment two, as shown in the embodiment three, the magnetic fluid robot motion control platform 5 further comprises a circuit board 3, and the power conductor block 31 is electrically connected with the control circuit of the single-chip microcomputer control system 2 on the circuit board 3. Figures 1-13 The control circuit comprises a single-chip microcomputer system, a current amplification circuit connected with the single-chip microcomputer system, and a positive and negative rotation control circuit of the current in the “H” bridge power conductor, and the positive and negative rotation control circuit of the current in the “H” bridge power conductor is connected with the power conductor in the power conductor block.

[0052] Specifically, the single-chip microcomputer system comprises an STC single-chip microcomputer and a circuit initialization circuit connected with the RST pin of the STC single-chip microcomputer, and the STC single-chip microcomputer is further connected with a crystal oscillator circuit and a VCC power supply circuit. The circuit initialization circuit comprises a capacitor C5 connected between the power supply VCC and the RST pin, and the capacitor C5 is connected in parallel with a reset switch SW1, and the RST pin is further connected to the ground through a resistor R3. The crystal oscillator circuit comprises a resistor R1 connected with the “X+” pin and the “X-” pin of the STC single-chip microcomputer, and a crystal oscillator X5 connected in parallel with the resistor R1, and the two ends of the crystal oscillator X5 are respectively connected to the common point of a capacitor C3 and a capacitor C4 and grounded. The VCC power supply circuit comprises a VCC pin of the STC single-chip microcomputer connected to the ground through the parallel connection of a capacitor C1 and a capacitor C2, and the VCC pin is further connected to the power supply VCC through a switch SW2 to control the current on-off of the control circuit.

[0053] Specifically, the P1.0 pin, the P1.3 pin, the P3.0 pin and the P3.3 pin of the I / O port of the STC single-chip microcomputer are connected with the positive and negative reversal control circuit of the current in the "H" bridge power wire through a current amplification circuit, the current amplification circuit comprises resistors R9, R8, R10 and R11 connected with the P1.0 pin, the P1.3 pin, the P3.0 pin and the P3.3 pin respectively, the other end of the resistor R9 is connected with a triode Q16, the base and the collector of the triode Q37 are connected between the collector and the emitter of the triode Q16, the emitter of the triode Q37 is connected with the X1 end of the positive and negative reversal control circuit of the current in the "H" bridge power wire. The other end of the resistor R8 is connected with a triode Q1, the base and the collector of the triode Q38 are connected between the collector and the emitter of the triode Q1, the emitter of the triode Q38 is connected with the X2 end of the positive and negative reversal control circuit of the current in the "H" bridge power wire. The other end of the resistor R10 is connected with a triode Q2, the base and the collector of the triode Q3 are connected between the collector and the emitter of the triode Q2, the emitter of the triode Q3 is connected with the X3 end of the positive and negative reversal control circuit of the current in the "H" bridge power wire. The other end of the resistor R11 is connected with a triode Q4, the base and the collector of the triode Q41 are connected between the collector and the emitter of the triode Q4, the emitter of the triode Q41 is connected with the X4 end of the positive and negative reversal control circuit of the current in the "H" bridge power wire.

[0054] The P1.1 pin, the P1.2 pin, the P1.4 pin, the P1.5 pin, the P3.1 pin, the P3.2 pin, the P3.4 pin and the P3.5 pin of the I / O port of the STC single-chip microcomputer are connected with the X-1-SHIFT-A end, the X-1-SHIFT-B end, the X-2-SHIFT-A end, the X-2-SHIFT-B end, the Y-1-SHIFT-A end, the Y-1-SHIFT-B end, the Y-2-SHIFT-A end and the Y-2-SHIFT-B end of the positive and negative reversal control circuit of the current in the "H" bridge power wire through resistors R26-R19.

[0055] X-1-SHIFT-A end is connected with one end of power conductor X-POWER-1 through triode Q39, triode Q11, triode Q5, triode Q6 and resistor R12, and the other end of X-POWER-1 is connected with X-1-SHIFT-B end through triode Q22, triode Q12, triode Q9, triode Q10 and resistor R13. X-2-SHIFT-A end is connected with one end of power conductor X-POWER-1 through triode Q8, triode Q42, triode Q13, triode Q15 and resistor R2, and the other end of X-POWER-1 is connected with X-2-SHIFT-B end through triode Q6, triode Q17, triode Q20, triode Q18 and resistor R14. Y-1-SHIFT-A end is connected with one end of power conductor Y-POWER-1 through triode Q21, triode Q14, triode Q25, triode Q14 and resistor R15, and the other end of Y-POWER-1 is connected with Y-1-SHIFT-B end through triode Q27, triode Q28, triode Q25, triode Q26 and resistor R16. Y-2-SHIFT-A end is connected with one end of power conductor Y-POWER-2 through triode Q29, triode Q19, triode Q31, triode Q32 and resistor R17, and the other end of Y-POWER-2 is connected with Y-2-SHIFT-B end through triode Q30, triode Q33, triode Q36, triode Q34 and resistor R18.

[0056] Further, the model of STC single-chip microcomputer selected is STC89C52, and the model of triode adopted includes FCX458TA and FMMT717TA. However, it is not limited to this, and in other embodiments, other product models with similar functions can also be selected according to actual use requirements. The positive and negative rotation of current in the power conductor is realized by using the principle of “H” bridge, and the level of the “SHIFT” pin of the STC single-chip microcomputer (i.e. P1.1 pin, P1.2 pin, P1.4 pin, P1.5 pin, P3.1 pin, P3.2 pin, P3.4 pin and P3.5 pin) is changed to realize this. Embodiment four

[0057] On the basis of embodiment one or embodiment two or embodiment three, a magnetohydrodynamic positioning motion control method, the method realized by the magnetohydrodynamic robot 7 motion control system includes the following steps:

[0058] The power conductors in the power conductor block 31 are energized, and when the currents in the power conductors flow in different directions, the magnetic fields generated by the currents are opposite in direction. The magnetic interaction between the power conductors and the permanent magnets 12 on the carrier robot 1 drives the permanent magnets 12 to displace at the arrangement position of the power conductors of the permanent magnets 12, and drives the magnetohydrodynamic robot 7 corresponding to the carrier robot 1 located in the test slot 41 to displace along the test slot 41; realizing the positioning motion control of the magnetohydrodynamic robot 7. Embodiment five

[0059] On the basis of embodiment three, a magnetohydrodynamic positioning motion control method for virus detection, the method realized by the magnetohydrodynamic robot 7 motion control system includes the following steps:

[0060] Inject the liquid medium required for detection into the test slot 41 of the detection plate 4; place the magnetohydrodynamic robot 7 at one end of the test slot 41, and the other end of the test slot 41 is the outlet end, and drop the detection sample and the detection reagent in the test slot 41 between the magnetohydrodynamic robot 7 and the outlet end; the detection reagent is close to the outlet end, and the detection sample is located between the detection reagent and the magnetohydrodynamic robot 7; drive the magnetohydrodynamic robot 7 to move along the test slot 41, and the magnetohydrodynamic robot 7 collects the detection sample in the test slot 41 during the movement, and after moving to the end point, the detection reagent is swallowed, so that the detection sample and the detection reagent are fully mixed, and then the mixed sample is expelled; take this as a cycle to perform the next round of detection.

[0061] Working principle:

[0062] As shown in Figure 7 , when performing detection work, first inject the liquid medium required for detection into the groove of the detection plate 4. In one embodiment, the detection plate 4 uses an antigen test plate, and the liquid medium required for detection uses the corresponding detection reagent used in the prior art for actual detection requirements. Then drop a droplet of magnetorheological fluid at one end of each channel. Then drop the detection sample in the middle section of the channel, and drop the detection reagent at the end of the channel. The camera captures the position of the magnetohydrodynamic robot 7, and after processing the position parameters by the upper computer, corresponding instructions are issued, and the instructions are sent to the single-chip microcomputer through serial communication to control the magnetohydrodynamic robot 7 to move to the end of the channel. The magnetohydrodynamic robot 7 collects all the samples in the channel during the movement, and after moving to the end point, the detection reagent is swallowed, so that the sample and the reagent are fully mixed, and then the mixed sample is expelled. Take this as a cycle to perform the next round of detection.

[0063] The application can be used in the field of virus detection technology, and creates a relatively independent detection environment for the detection process, so that the detection automation, detection environment stabilization, rapid processing and feedback of small volume samples can be realized. The magnetized sample droplets can be accurately and stably processed by controlling a group of micro-sized magnetofluid robots 7 to move. The key point of the magnetofluid robot 7 in virus detection is the accurate positioning of the magnetofluid robot 7 in the detection environment, and the method of making it move stably and in parallel. In view of this point, and in order to improve the shortcomings of the previous magnetofluid control technology, a detection platform capable of accurately controlling the movement of the magnetofluid robot 7 is invented. The application uses a circuit board 3 containing double-layer power wires to construct a two-dimensional plane magnetic field movement space, controls the high-speed movement of multiple carrier robots 1, and drives the magnetofluid robot 7 in the detection area to move, thereby improving the work efficiency. At the same time, the CMOS industrial camera and the upper computer program are used to accurately position the magnetofluid robot 7 and obtain its position and attitude parameters, and the magnetofluid robot 7 is positioned at a millimeter level. The application solves the problems of low efficiency of traditional virus detection methods and high price of virus detection equipment on the market, solves the problem of how to control multiple magnetofluids to move stably and in parallel, and solves the problems of slow movement speed of magnetofluids and cooperation with automatic control of magnetofluid movement.

[0064] According to the ideal embodiments of the application, the above description can be varied and modified without deviating from the technical idea of the application. The technical scope of the application is not limited by the description, and must be determined by the scope of the claims.

Claims

1. A motion control system for a magnetohydrodynamic robot, characterized in that: The system includes a magnetohydrodynamic (MHD) robot motion control platform (5), which includes a power wire block (31). The power wire block (31) contains several power wires. The upper part of the power wire block (31) is also provided with a detection plate (4) corresponding to the power wires. The detection plate (4) is provided with several test slots (41). The test slots (41) contain a magnetohydrodynamic (MHD) robot (7). Several carrier robots (1) corresponding to the power wires are movably embedded between the power wire block (31) and the detection plate (4). Furthermore, the carrier robot (1) and the power wire block (31) cooperate to drive the carrier robot (1) to move on the power wire block (31) and drive the magnetohydrodynamic robot (7) to move in the test tank (41); The upper part of the magnetohydrodynamic robot motion control platform (5) is also provided with a visual monitoring mechanism (6) located on the upper part of the detection plate (4); the image acquisition window of the visual monitoring mechanism (6) faces the detection plate (4). Several test slots (41) are staggered on the detection plate (4) to form multiple crisscrossing pathway structures.

2. The magnetohydrodynamic robot motion control system according to claim 1, characterized in that: The power conductor block (31) is provided with two layers of power conductors; and the two layers of power conductors respectively include a number of X-axis power conductors (311) arranged axially along the X-axis and a number of Y-axis power conductors (312) arranged axially along the Y-axis; the X-axis power conductors (311) and the Y-axis power conductors (312) are arranged in a zigzag pattern; the X-axis power conductors (311) and the Y-axis power conductors (312) are arranged in opposite directions and do not make electrical contact with each other.

3. The magnetohydrodynamic robot motion control system according to claim 2, characterized in that: The conduction polarities of adjacent X-axis power conductors (311) are opposite; the conduction polarities of adjacent Y-axis power conductors (312) are opposite.

4. The magnetohydrodynamic robot motion control system according to claim 2, characterized in that: The carrier robot (1) includes a displacement carrier (11) and a permanent magnet (12) disposed on the displacement carrier (11).

5. The magnetohydrodynamic robot motion control system according to claim 4, characterized in that: The magnetohydrodynamic robot motion control platform (5) also includes a circuit board (3), and the power wire block (31) is electrically connected to the control circuit of the single-chip microcomputer control system (2) on the circuit board (3). The control circuit includes a microcontroller system, a current amplification circuit connected to the microcontroller system, and a forward and reverse current control circuit in the "H" bridge power conductor. The forward and reverse current control circuit in the "H" bridge power conductor is connected to the power conductor in the power conductor block (31).

6. The magnetohydrodynamic robot motion control system according to claim 5, characterized in that: The displacement carrier (11) is provided with several sets of permanent magnets (12) arranged in parallel, and a driving displacement interval is reserved between adjacent permanent magnets (12) in each set; and the interval corresponds to the periodic arrangement spacing of the X-axis power conductor or the Y-axis power conductor. Or / and, the displacement distance of the carrier robot (1) each time is the sum of the line width of the X-axis power guide (311) or the Y-axis power guide (312) and 1 / 2 of the line gap.

7. A magnetohydrodynamic positioning motion control method, characterized in that, The method implemented by the magnetohydrodynamic robot motion control system shown in any of claims 1-6 includes the following steps: When the power wires in the power wire block (31) are energized, and the currents in different directions are passed through the power wires, the magnetic fields generated by the currents are opposite in direction. The magnetic interaction between the power wires and the permanent magnets (12) on the carrier robot (1) drives the permanent magnets (12) to move at the arrangement position of the power wires in the power wire block (31), and drives the magnetohydrodynamic robot (7) located in the test tank (41) corresponding to the carrier robot (1) to move along the test tank (41); thus realizing the positioning and motion control of the magnetohydrodynamic robot (7).

8. The magnetohydrodynamic positioning motion control method according to claim 7, characterized in that, Includes the following steps: The required liquid medium for testing is injected into the test tank (41) of the test plate (4); The magnetohydrodynamic robot (7) is placed at one end of the test tank (41), and the other end of the test tank (41) is the outlet. The test sample and the test reagent are dripped into the test tank (41) between the magnetohydrodynamic robot (7) and the outlet. The test reagent is close to the outlet, and the test sample is located between the test reagent and the magnetohydrodynamic robot (7). The magnetohydrodynamic robot (7) is driven to move along the test tank (41). During the movement, the magnetohydrodynamic robot (7) collects the test sample in the test tank (41). After moving to the end point, it swallows the test reagent to fully mix the test sample with the test reagent, and then spits out the mixed sample. This is one cycle for the next round of testing.

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